三自由度双旋翼直升机的离散动态分析  

Discrete dynamics analysis for 3-DOF tandem-rotor model helicopter

作　　者：曾诚[1,2] 梁山[2] 钟佳岐[2] 孙永胜[2] 

机构地区：[1]贵州理工学院理学院,贵阳550003 [2]重庆大学自动化学院,重庆400044

出　　处：《计算机应用研究》2015年第8期2350-2355,共6页Application Research of Computers

基　　金：国家重点基础研究发展规划资助项目(2013CB328903);国家自然科学基金资助项目(60574003);重庆市科委自然科学基金计划资助项目(cstc2012jj A40026);贵州省科学技术基金资助项目(黔科合LH字[2014]7364号)

摘　　要：三自由度双旋翼直升机模型是动力学系统研究中的重要实验对象,也是研究直升机飞行控制技术的理想平台。针对非线性三自由度直升机模型系统,考虑在多率采样保持条件下,使用Taylor方法导出了比经典的Euler模型更精确的近似离散时间模型,进一步分析并给出该近似离散模型的局部截断误差为T5,其中T为采样周期。在此基础上,论证了导出的近似直升机离散模型包含着新增加的采样零动态,同时也探讨了这类采样零动态相应的精确渐近特征和稳定条件。This paper derived an approximate discrete-time model for a nonlinear 3-DOF tandem-rotor model helicopter in the case of the multirate input and hold, which was accurate to some order in the sampling period. More importantly, the proposed model had more accurate than the classic Euler approximation. It also shows how a particular strategy can be used to approximate the system output and its derivatives in such a way as to obtain a local truncation error, between the output of the resulting sampled-data model and the true continuous-time system output, of order T^6, where T is the sampling period. It also gave an insight interpretation of the obtained sampled-data model can be made in terms of sampling zero dynamics, and their explicit characterization. Moreover,it shows a condition which assures the stability of the sampling zero dynamics for the resulting model helicopter.

关 键 词：三自由度双旋翼直升机 离散动态分析 零动态 

分 类 号：TP274[自动化与计算机技术—检测技术与自动化装置]